Input device assemblies for robotic surgical systems

ABSTRACT

Methods and devices for controlling a robotic system includes receiving a signal in response to movement of an input device through an input distance, determining the position of a repositioning control disposed on the input device, and moving the tool of the robotic system in response to movement of the input device the input distance. The input device is coupled to an input shaft of an input arm. The robotic system moving the tool a first distance when the repositioning control is in a deactivated position and moves the tool a second distance when the repositioning control in an activated position. The first distance is greater than the second distance.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation Application which claims the benefitof and priority to U.S. patent application Ser. No. 15/561,363, filed onSep. 25, 2017, which is a U.S. National Stage Application filed under 35U.S.C. § 371(a) of International Patent Application No.PCT/US2016/023519, filed Mar. 22, 2016, which claims the benefit of andpriority to U.S. Provisional Patent Application No. 62/138,432, filedMar. 26, 2015, the entire disclosure of each of which being incorporatedby reference herein.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medicalprocedures. During such a medical procedure, the robotic surgical systemis controlled by a surgeon interfacing with a user interface. The userinterface allows the surgeon to manipulate an end effector that acts ona patient. The user interface includes an input controller or handlethat is moveable by the surgeon to control the robotic surgical system.

Robotic surgical systems typically use a scaling factor to scale downthe motions of the surgeons hands to determine the desired position ofthe end effector within the patient so that the surgeon can moreprecisely move the end effector inside the patient. Since the inputdevice handle has a fixed range of motion, for larger scaling factorsthe surgeon may reach an end of the range of motion of an input handlemore often. The surgeon then has to “clutch” the handle to decouple themotion of the input handles from the end effector so that the surgeoncould move the handles to a new position within the workspace of theuser interface away from the end of the range of motion while theinstruments remain stationary. Once the input handle was movedsufficiently away from the end of the range of motion, the surgeon“reclutches” the input handle with the end effector to recouple themotion of the input handle to motion of the end effector to complete thedesired movement of the end effector. Typically, a foot pedal is used asto “clutch” the input handle. This communicative decoupling between themotion of the input handles from the end effector, if not managedproperly, may raise safety issues during the “clutching” window when thecommunicative decoupling occurs. Additionally, during some procedures itmay be desirable to enable fine movement of the end effector during therepositioning of the handles so that the end effector does not remainstationary and more susceptible to collisions with other moving bodyparts or instruments while the input device handles are beingrepositioned.

There is a need for a robotic surgical system having an input devicehandle that can be easily repositioned without requiring traditional“clutching” that keeps the end effector stationary and/orcommunicatively decoupled from the input device during therepositioning.

SUMMARY

In an aspect of the present disclosure, a method of controlling a toolof a robotic system includes receiving a signal representative of amovement distance of an input device that is coupled to an input shaftof an input arm, determining a state of an input device repositioningcontrol, scaling the movement distance based on a repositioning scalingfactor or an operating scaling factor depending on the state of therepositioning control, and moving the tool of the robotic system basedon the scaled movement distance. The tool moves at least a non-zeroorder of magnitude lesser distance when the movement distance is scaledbased on the repositioning scaling factor instead of the operatingscaling factor. The method may include scaling the movement distancebased on the repositioning scaling factor when the repositioning controlis in an active state and scaling the movement distance based on theoperating scaling factor when the repositioning control is in aninactive state.

In aspects, the repositioning control includes a ring disposed about thebody of the input device. The method may include determining that thering is in the active state when the ring is slid away from a neutralposition along a longitudinal axis of the body of the input device anddetermining that the ring is in the inactive state when the ring is inthe neutral position. The ring is slid distally along the longitudinalaxis of the body.

In some aspects, the method includes determining that the ring is in theactive state when the ring is rotated away from a neutral position abouta longitudinal axis of the body of the input device and determining thatthe ring is in the inactive state when the ring is in the neutralposition.

In certain aspects, the repositioning control of the input deviceincludes a petal that extends radially from the body. The method mayinclude determining that the petal is in the active state when the petalis moved away from a neutral position and determining that the ring isin the inactive state when the ring is in the neutral position. Engagingthe petal of the input device may include pivoting the petal proximally.The petal may be moved away from the neutral position when pivoted awayfrom the neutral position.

In particular aspects, the repositioning scaling factor is less than1000. The repositioning scaling factor may be at least 50 when theoperating scaling factor is between 1 and 5. The repositioning scalingfactor may be between 100 and 500 and the operating scaling factor isnot greater than 10. The repositioning scaling factor may be at least 50and the operating scaling factor is selectable between a plurality ofvalues.

In another aspect of the present disclosure, a robotic surgical systemincludes a processing unit, a robotic system, and a user interface. Therobotic system includes a robot base, a linkage, and a tool. The linkageextends from the robot base and has a plurality of members that areconfigured to move in response to a scaled signal from the processingunit. The tool is supported at an end of the linkage. The user interfaceincludes an input arm that has an input shaft. The user interface alsoincludes an input device that is coupled to the input shaft. The inputdevice includes a repositioning control that is in communication withthe processing unit to selectively vary a scaling factor of movement ofthe input shaft to movement of the tool.

In aspects, the repositioning control has an activated position suchthat movement of the input shaft is scaled by a first scaling factor tomovement of the tool and a deactivated position such that movement ofthe input shaft is scaled by a second scaling factor to movement of thetool. The second scaling factor is different from the first scalingfactor. The repositioning control may include a ring that is disposedabout a body of the input device. The ring of the repositioning controlmay be slidable along or rotatable about a longitudinal axis of the bodybetween activated and deactivated positions.

In some aspects, the repositioning control includes a petal thatradially extends from the body of the input device. The petal may bepivotable proximally or distally from a deactivated position to anactivated position.

In another aspect of the present disclosure, an input device for arobotic surgical system includes a body, a repositioning control, and acontroller. The body is configured to couple to an input shaft of aninput arm. The repositioning control is disposed on the body and ismoveable between activated and deactivated positions. The controller isconfigured to transmit a signal to a processing unit to selectively varya scaling factor of movement of the body to movement of a tool of therobotic surgical system. The repositioning control may be a ringslidable along a longitudinal axis of the body or a pivotable petal thatextends radially from the body.

Further details and aspects of exemplary embodiments of the presentdisclosure are described in more detail below with reference to theappended figures.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects of the present disclosure are described hereinbelow withreference to the drawings, which are incorporated in and constitute apart of this specification, wherein:

FIG. 1 is a schematic illustration of a robotic surgical system inaccordance with the present disclosure including a user interface and arobotic system;

FIG. 2 is a plan view of an arm of the user interface of FIG. 1 within atwo-dimensional workspace;

FIG. 3 is a side view of an input device provided in accordance with thepresent disclosure;

FIG. 4 is side view of another input device provided in accordance withthe present disclosure;

FIG. 5 is an end view of the input device of FIG. 4; and

FIG. 6 is a schematic diagram of a method for controlling movement ofthe robotic surgical system of FIG. 1 in accordance with the presentdisclosure.

DETAILED DESCRIPTION

Embodiments of the present disclosure are now described in detail withreference to the drawings in which like reference numerals designateidentical or corresponding elements in each of the several views. Asused herein, the term “clinician” refers to a doctor, a nurse, or anyother care provider and may include support personnel. Throughout thisdescription, the term “proximal” refers to the portion of the device orcomponent thereof that is closest to the clinician and the term “distal”refers to the portion of the device or component thereof that isfarthest from the clinician.

Some embodiments include a control for applying a repositioning scalingfactor to a movement of the input device resulting in less movement of atool coupled to a robotic arm linkage when the input device is moved.The lesser movement enables the input device to be repositioned relativeto the tool while still leaving the input device operatively coupled tothe tool. When the input device is repositioned, the repositioningscaling factor may be changed back to an operating scaling factor usedduring the surgical procedure resulting in greater movement of a toolcoupled to a robotic arm linkage. This greater movement enables theclinician operating the input device to complete the surgical procedurein an efficient manner. The operating scaling factor may also be changedby the clinician during the surgical procedure to enable finer orcoarser movements of the tool coupled to the input device.

Referring to FIG. 1, a robotic surgical system 1 in accordance with thepresent disclosure is shown generally as a robotic system 10, aprocessing unit 30, and a user interface 40. The robotic system 10generally includes linkages 12 and a robot base 18. The linkages 12moveably support an end effector or tool 20 which is configured to acton tissue. The linkages 12 may be in the form of arms each having an end14 that supports an end effector or tool 20 which is configured to acton tissue. In addition, the ends 14 of the linkages 12 may include animaging device 16 for imaging a surgical site “S”. The user interface 40is in communication with robot base 18 through the processing unit 30.

The user interface 40 includes a display device 44 which is configuredto display three-dimensional images. The display device 44 displaysthree-dimensional images of the surgical site “S” which may include datacaptured by imaging devices 16 positioned on the ends 14 of the linkages12 and/or include data captured by imaging devices that are positionedabout the surgical theater (e.g., an imaging device positioned withinthe surgical site “S”, an imaging device positioned adjacent the patient“P”, imaging device 56 positioned at a distal end of an imaging arm 52).The imaging devices (e.g., imaging devices 16, 56) may capture visualimages, infra-red images, ultrasound images, X-ray images, thermalimages, and/or any other known real-time images of the surgical site“S”. The imaging devices transmit captured imaging data to theprocessing unit 30 which creates three-dimensional images of thesurgical site “S” in real-time from the imaging data and transmits thethree-dimensional images to the display device 44 for display.

The user interface 40 also includes input arms or handles 42 which allowa clinician to manipulate the robotic system 10 (e.g., move the linkages12, the ends 14 of the linkages 12, and/or the tools 20). Each of theinput handles 42 is in communication with the processing unit 30 totransmit control signals thereto and to receive feedback signalstherefrom. Each of the input handles 42 may include an input device(e.g., input device 60 (FIG. 3) or input device 70 (FIG. 4)) which allowthe surgeon to manipulate (e.g., clamp, grasp, fire, open, close,rotate, thrust, slice, etc.) the tools 20 supported at the ends 14 ofthe linkages 12.

With additional reference to FIG. 2, the input device (e.g., inputdevices 60 and 70) is moveable through a predefined workspace “W” tomove the ends 14 of the linkages 12 within a surgical site “S” or tomove the tools 20 that are supported on the ends 14 of the linkages 12.It will be appreciated that while the workspace “W” is shown intwo-dimensions in FIG. 2 that the workspace “W” is a three-dimensionalworkspace. The three-dimensional images on the display device 44 areorientated such that the movement of the input device moves the ends 14of the linkages 12 as viewed on the display device 44. It will beappreciated that the orientation of the three-dimensional images on thedisplay device may be mirrored or rotated to a view from above thepatient “P”. In addition, it will be appreciated that the size of thethree-dimensional images on the display device 44 may be scaled to belarger or smaller than the actual structures of the surgical sitepermitting the surgeon to have a better view of structures within thesurgical site “S”. As the input devices are moved, the tools 20 aremoved within the surgical site “S” as detailed below. As detailedherein, movement of the tools 20 may also include movement by the ends14 of the linkages 12 which support the tools 20.

For a detailed discussion of the construction and operation of a roboticsurgical system 1, reference may be made to U.S. Patent Publication No.2012/0116416, entitled “Medical Workstation.”

The movement of the tools 20 is scaled relative to the movement of theinput devices (e.g., input devices 60 and 70). The processing unit 30transmits scaled control signals to the robot base 18 to move the tools20 in response to the movement of the input handles 42. The processingunit 30 scales the control signals by dividing an Input_(distance)(e.g., the distance moved by one of the input devices) by a scalingfactor S_(F) to arrive at a scaled Output_(distance) (e.g., the distancethat one of the ends 14 is moved). In some instances one or more scalingfactors “S_(F)” used in operation during a surgical procedure may be ina range between about 1 and about 10 (e.g., 3). This scaling may berepresented by the following equation:Output_(distance)=Input_(distance) /S _(F).It will be appreciated that the larger scaling factor “S_(F)”, thesmaller the movement of the tools 20 relative to the movement of theinput devices. Thus, to facilitate repositioning of the input devicerelative to a surgical tool 20 driven by the input device, a largerscaling factor “S_(F)” may be used instead so that the tool 20 movesmuch less than the input device. In some instances this repositioningscaling factor may be at least about 100 or more.

In those instances where the scaling factor is less than one (e.g.operating scaling factor is about 0.5 and repositioning scaling factoris 0.005) then the scaling factor may be multiplied by the inputdistance to calculate the output distance that the tools are moved.

The input devices (e.g., input devices 60 and 70), as shown in FIGS.3-5, may include a repositioning control (e.g., repositioning controls64 and 74) that sends a signal to the processing unit 30 to switch thescaling factor “S_(F)” between an operating scaling factor “OS_(F)” usedduring the surgical procedure and a repositioning scaling factor“RS_(F)” facilitating a repositioning of the input device 60 and/or 70.The operating scaling factor “OS_(F)” may be much smaller than therepositioning scaling factor “RS_(F)” when both scaling factors aregreater than one and larger when both scaling factors are less than one.In some instance operating scaling factor “OS_(F)” may be in a range ofabout 1.0 to about 10.0 (e.g., 3.0) and the repositioning scaling factor“RS_(F)” may be in a range of about 100.0 to about 1000.0 (e.g., 500.0).The two scaling factors allow a clinician to perform a surgicalprocedure using the operating scaling factor “OS_(F)” and thenreposition an input device using the repositioning scaling factor“RS_(F)” when the input device approaches an edge or a limit of movementof the predefined workspace “W” while still keeping the input devicefully coupled to the surgical tool. Thus, the clinician may toggle therepositioning control to the activated position “A” to switch to therepositioning scaling factor “RS_(F)” and then move the input device toa desired position within the predefined workspace “W” (adjacent thecenter “C”) while keeping the input device operatively coupled to thetool 20. Once the input device is at the desired position within thepredefined workspace “W”, the clinician may then toggle therepositioning control to the deactivated position to switch back to adesired operating scaling factor “OS_(F)” and continue the surgicalprocedure.

“Clutching” the input device 60, 90 from the tool 20 may operativelydecouple the tool 20 from the input device 60, 90 so that movement ofthe input device 60, 90 in at least one predetermined direction does notnecessarily result in a corresponding movement of the tool 20. However,during repositioning the input device 60, 90 remains operatively coupledto the tool 20 so that movement of the input device 60, 90 in thepredetermined direction results in a corresponding movement of the tool20 that is lessened by the “repositioning” scaling factor amount insteadof the “operating” scaling factor amount used during the surgicalprocedure. For a more detailed discussion of the clutching and scalingof movement of the linkages 12 of a robotic system 10 in response tomovement of the input handles 42, reference may be made to U.S. PatentApplication Ser. No. 62/118,123, filed Feb. 19, 2015.

With reference to FIG. 3, the input device 60 is coupled to an inputshaft 43 of the input handles 42. The input device 60 is rotatable aboutthe input shaft 43 and may be translatable along a longitudinal axisdefined by the input shaft 43. The input device 60 includes a body 62, acontroller 63, a repositioning control 64, and input interfaces (e.g.,lever 66). The body 62 is ergonomically shaped for engagement by thehand of a clinician. The body 62 may provide a clinician with a tactilefeel similar to holding a surgical instrument. The body 62 may alsoprovide tactile feedback (e.g., haptic feedback) to a clinician. Thecontroller 63 is in communication with the processing unit 30 to sendsignals from the input device 60 to the processing unit 30 to controlmanipulation of the tools 20 (FIG. 1) of a robotic system 10 in responseto manipulation of the body 62, the repositioning control 64, and theinput interfaces of the input device 60. It is contemplated that thecontroller 63 may send the control signals to the processing unit 30 ina wired or wireless manner.

The input interfaces may be specific to a respective tool 20 that issupported at the end 14 of a linkage 12. For example, an input interfaceor lever 66 of the input device 60 may be for moving a jaw (not shown)of a tool 20. Additionally or alternatively, the lever 66 may be forapplying electrosurgical energy to tissue with a tool 20.

Continuing to refer to FIG. 3, the repositioning control 64 ispositioned about the body 62 of the input device 60. As detailed above,the repositioning control 64 functions to selectively “repositioning”the manipulation of the input device 60 and/or input interfaces with thetool 20. The repositioning control 64 may be a ring positioned about thebody 62 of the input device 60. As shown the repositioning control 64,is positioned between an end of the body 62 that engages the input shaft43 and the lever 66. It is contemplated, that the repositioning control64 may be positioned about the other end of the body 62. As soconfigured, the repositioning control 64 may be activated at any radiallocation about the input device 60.

The repositioning control 64 may be slidable between a deactivatedposition “D” and an activated position “A”. The repositioning control 64may be engagable by a clinician and biased towards the deactivatedposition “D”. The biasing of the repositioning control 64 may becalibrated to permit engagement of a finger of a clinician to move therepositioning control 64 to the activated position “A”. As shown, tomove the repositioning control 64 to the activated position “A”, therepositioning control 64 may be moved distally or towards input shaft43; however, it is contemplated that the orientation of therepositioning control 64 may be reversed such that proximal movement ormovement away from the input shaft 43 moves the repositioning control 64towards the activated position “A”. It is also contemplated, that therepositioning control 64 may be rotated about an axis of the body 62 tomove the repositioning control 64 towards the activated position “A”.

In the deactivated position “D” of the repositioning control 64, theprocessing unit 30 permits the input device 60 to manipulate the tool 20in response to manipulation of the input device 60 and the inputinterfaces. In the activated position “A” of the repositioning control64, the processing unit 30 may change the scaling factor applied to aninput device movement so that the tool 20 moves much less as detailedabove.

In other instances, one of the activated and deactivated positions “A”,“D” of the repositioning control 64 may be used to enter a traditional“clutching” mode in which the tool 20 is operatively decoupled from theinput device 60 so when the input device 60 is moved the tool 20 doesnot move. The other of the activated and deactivated positions “A”, “D”of the repositioning control 64 may be used to leave the “clutching”mode and recouple the input device 70 to the tool 20 so that the tool 20moves as the input device 70 is moved.

With reference to FIGS. 4 and 5, another input device 70 is provided inaccordance with the present disclosure. The input device 70 is similarto the input device 60 detailed above with like elements labeled in asimilar manner, as such only the differences will be detailed herein.The input device 70 includes a body 72, a controller 73, and a pluralityof petals 74, 76. The body 72 may be squeezable to control the movementof jaws (not shown) of a tool 20 (FIG. 1). Each of the plurality ofpetals 74, 76 extend away from the body 72 and are spaced apart from oneanother such that each of the plurality of petals 74, 76 may beselectively engagable. The plurality of petals 74, 76 includes arepositioning petal 74 and input interface petals 76. The repositioningpetal 74 may be moveable between a proximal activated position “A_(P)”and a deactivated position “D”. The repositioning petal 74 may also havea distal activated position “A_(D)”. The proximal and distal activatedpositions “A_(P)”, “A_(D)” of the repositioning petal 74 may besubstantially similar to the activated position “A” and deactivatedposition of the repositioning control 64 detailed above. Additionally oralternatively, one of the activated positions “A_(P)”, “A_(D)” of therepositioning petal 74 may change the scaling factor applied from anoperating scaling “OS_(F)” used during the surgical procedure to arepositioning scaling factor “RS_(F)”, as detailed above, and the otherone of the activated positions “A_(P)”, “A_(D)” of the repositioningpetal may revert the scaling factor back to the previous scaling factor.

In other instances, one of the activated and deactivated positions“A_(P)”, “A_(D)” of the repositioning petal 74 may be used to enter atraditional “clutching” mode in which the tool 20 is operativelydecoupled from the input device 70 so when the input device 70 is movedthe tool 20 does not move. The other of the activated and deactivatedpositions “A_(P)”, “A_(D)” of the repositioning petal 74 may be used toleave the “clutching” mode and recouple the input device 70 to the tool20 so that the tool 20 moves as the input device 70 is moved.

With reference to FIG. 6, a method 100 of controlling a tool 20 of arobotic system 10 with a processing unit 30 in response to movement ofinput device 60 is disclosed in accordance with the present disclosure.It will be appreciated that method 100 may be used with a variety ofother input devices (e.g., input device 70).

The processing unit 30 receives a signal indicative of movement of aninput device coupled to an input shaft 43 of an input arm 42 of arobotic surgical system 10 (Step 110). The signal may be from thecontroller 63 of the input device 60 or from another component of theuser interface 40. The processing unit 30 compares the signal from thecontroller 63 with the identifying information specific to tool 20attached to the end 14 of the linkage 12 to verify that the input device60 is compatible with the tool 20 (Step 120). The processing unit 30 mayverify the input device 60 is compatible with the tool 20 by comparing acharacteristic signal from the tool 20 with the signal from thecontroller 63. If the processing unit 30 verifies that the input device60 is compatible with the tool 20, the processing unit 30 determines theposition of the repositioning control 64 as detailed below. If theprocessing unit determines the input device 60 is incompatible with thetool 20, the processing unit 30 maintains the position of the tool 20 inresponse to signals from the controller 63 (Step 155). Additionally, theprocessing unit 30 may provide indicia to a clinician if the tool 20 iscompatible or incompatible with the input device 60. For example, theprocessing unit 30 may provide visual indicia on the display device 44(FIG. 1) or may illuminate the body 62 a distinct color. It is alsocontemplated that the processing unit 30 may provide audible indicia toa clinician.

Next, the processing unit 30 determines the position of therepositioning control 64 (Step 130). It will be appreciated that thesignal from the controller 63 may include data including the position ofthe repositioning control 64. Additionally or alternatively, thecontroller 63 may send a separate repositioning control signal to theprocessing unit 30 to provide the position of the repositioning control64.

When the repositioning control 64 is in the deactivated position, theprocessing unit 30 scales the signal from the input device 60 by a firstscaling factor (e.g., scaling factor “S_(F1)” or operating scalingfactor “OS_(F)”) (Step 142). Then, the processing unit 30 manipulatesthe tool 20 in response to the scaled signal (Step 150).

When the repositioning control 64 is in the activated position, theprocessing unit 30 scales the signal from the input device 60 by asecond scaling factor (e.g., scaling factor “S_(F2)” or repositioningscaling factor “RS_(F)”) (Step 144). Then, the processing unit 30manipulates the tool 20 in response to the scaled signal (Step 150).

In some instances, if one of the scaling factors is selected to be zero,then the processing unit 30 may maintain the position of the tool 20 asthough the tool 20 were communicatively decoupled from the input device60 until the scaling factor is changed to a non-zero value.

The wireless connections detailed herein (e.g., between controller 63and the processing unit 30) may be via radio frequency, optical, WIFI,Bluetooth® (an open wireless protocol for exchanging data over shortdistances (using short length radio waves) from fixed and mobiledevices, creating personal area networks (PANs)), ZigBee® (aspecification for a suite of high level communication protocols usingsmall, low-power digital radios based on the IEEE 802.15.4-2003 standardfor wireless personal area networks (WPANs)), etc.

While several embodiments of the disclosure have been shown in thedrawings, it is not intended that the disclosure be limited thereto, asit is intended that the disclosure be as broad in scope as the art willallow and that the specification be read likewise. Any combination ofthe above embodiments is also envisioned and is within the scope of theappended claims. Therefore, the above description should not beconstrued as limiting, but merely as exemplifications of particularembodiments. Those skilled in the art will envision other modificationswithin the scope of the claims appended hereto.

What is claimed:
 1. A method of controlling a tool of a robotic system,the method comprising: receiving a signal representative of a movementdistance of an input device coupled to an input shaft of an input arm;determining a position of a repositioning control of an input device,wherein the repositioning control is supported on a body of the inputdevice; scaling the movement distance based on a repositioning scalingfactor or an operating scaling factor depending on the position of therepositioning control; moving the tool of the robotic system based onthe scaled movement distance, the tool moving based on the operatingscaling factor at least a lesser distance than based on therepositioning scaling factor; and scaling the movement distance based onthe repositioning scaling factor when the repositioning control is in anactive position and scaling the movement distance based on the operatingscaling factor when the repositioning control is in an inactiveposition, wherein the repositioning control of the input device includesa petal extending radially from the body.
 2. The method according toclaim 1, wherein the repositioning control includes a ring disposedabout the body of the input device.
 3. The method according to claim 2,further comprising determining that the ring is in the active positionwhen the ring is slid away from a neutral position along a longitudinalaxis of the body of the input device and determining that the ring is inthe inactive position when the ring is in the neutral position.
 4. Themethod according to claim 3, further comprising determining that thering is in the active position when the ring is rotated away from aneutral position about a longitudinal axis of the body of the inputdevice and determining that the ring is in the inactive position whenthe ring is in the neutral position.
 5. The method according to claim 1,further comprising determining that the petal is in the active positionwhen the petal is moved away from a neutral position and determiningthat a ring is in the inactive position when the ring is in the neutralposition, wherein engaging the petal of the input device includespivoting the petal proximally.
 6. The method according to claim 5,wherein the petal is moved away from the neutral position when pivotedaway from the neutral position.
 7. A method of controlling a tool of arobotic system, the method comprising: receiving a signal representativeof a movement distance of an input device coupled to an input shaft ofan input arm; determining a position of a repositioning control of aninput device, wherein the repositioning control is supported on a bodyof the input device; scaling the movement distance based on arepositioning scaling factor or an operating scaling factor depending onthe position of the repositioning control; moving the tool of therobotic system based on the scaled movement distance, the tool moving atleast a lesser distance than based on the repositioning scaling factor;and scaling the movement distance based on the repositioning scalingfactor when the repositioning control is in an active position andscaling the movement distance based on the operating scaling factor whenthe repositioning control is in an inactive position, wherein therepositioning control of the input device includes a petal extendingradially from the body.
 8. The method according to claim 7, wherein therepositioning control includes a ring disposed about the body of theinput device.
 9. The method according to claim 8, further comprisingdetermining that the ring is in the active position when the ring isslid away from a neutral position along a longitudinal axis of the bodyof the input device and determining that the ring is in the inactiveposition when the ring is in the neutral position.
 10. The methodaccording to claim 9, further comprising determining that the ring is inthe active position when the ring is rotated away from a neutralposition about a longitudinal axis of the body of the input device anddetermining that the ring is in the inactive position when the ring isin the neutral position.
 11. The method according to claim 7, furthercomprising determining that the petal is in the active position when thepetal is moved away from a neutral position and determining that a ringis in the inactive position when the ring is in the neutral position,wherein engaging the petal of the input device includes pivoting thepetal proximally.
 12. The method according to claim 11, wherein thepetal is moved away from the neutral position when pivoted away from theneutral position.
 13. A method of controlling a tool of a roboticsystem, the method comprising: receiving a signal representative of amovement distance of an input device coupled to an input shaft of aninput arm; determining a position of a repositioning control of an inputdevice, wherein the repositioning control is supported on a body of theinput device; scaling the movement distance based on a repositioningscaling factor or an operating scaling factor depending on thedetermined position of the repositioning control; moving the tool of therobotic system based on the scaled movement distance, the tool moving atleast a lesser distance than based on the repositioning scaling factor;and scaling the movement distance: based on the repositioning scalingfactor when the repositioning control is in an active position; or basedon the operating scaling factor when the repositioning control is in aninactive position, wherein the repositioning control of the input deviceincludes a petal extending radially from the body.
 14. The methodaccording to claim 13, wherein the repositioning control includes a ringdisposed about the body of the input device.
 15. The method according toclaim 14, further comprising determining that the ring is in the activeposition when the ring is slid away from a neutral position along alongitudinal axis of the body of the input device and determining thatthe ring is in the inactive position when the ring is in the neutralposition.
 16. The method according to claim 15, further comprisingdetermining that the ring is in the active position when the ring isrotated away from a neutral position about a longitudinal axis of thebody of the input device and determining that the ring is in theinactive position when the ring is in the neutral position.
 17. Themethod according to claim 13, further comprising determining that thepetal is in the active position when the petal is moved away from aneutral position and determining that the ring is in the inactiveposition when the ring is in the neutral position, wherein engaging thepetal of the input device includes pivoting the petal proximally. 18.The method according to claim 17, wherein the petal is moved away fromthe neutral position when pivoted away from the neutral position.